CN103231994B - Material clamps lifting shift equipment automatically - Google Patents
Material clamps lifting shift equipment automatically Download PDFInfo
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- CN103231994B CN103231994B CN201310151669.6A CN201310151669A CN103231994B CN 103231994 B CN103231994 B CN 103231994B CN 201310151669 A CN201310151669 A CN 201310151669A CN 103231994 B CN103231994 B CN 103231994B
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- 239000000463 material Substances 0.000 title claims abstract description 56
- 230000007246 mechanism Effects 0.000 claims abstract description 54
- 238000006073 displacement reaction Methods 0.000 claims abstract description 24
- 230000007306 turnover Effects 0.000 claims abstract description 17
- 235000019504 cigarettes Nutrition 0.000 claims description 13
- 238000000034 method Methods 0.000 claims description 7
- 230000001105 regulatory effect Effects 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 6
- 238000004519 manufacturing process Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 6
- 230000033228 biological regulation Effects 0.000 claims description 5
- 230000008859 change Effects 0.000 claims description 3
- 230000007423 decrease Effects 0.000 claims description 3
- 241000208125 Nicotiana Species 0.000 abstract description 2
- 235000002637 Nicotiana tabacum Nutrition 0.000 abstract description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 13
- 238000011144 upstream manufacturing Methods 0.000 description 4
- 239000010802 sludge Substances 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 239000002826 coolant Substances 0.000 description 1
- 230000001351 cycling effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 239000002002 slurry Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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Abstract
The invention discloses a kind of material and automatically clamp lifting shift equipment, can be used for the lifting in filter stick or tobacco productive corporation turnover, storage or logistics and shift operation.Be made up of robot control system(RCS), erecting frame, horizontal displacement mechanism, vertical-lift mechanism, clamping device etc.Vertical-lift mechanism is made up of fixed parts and movable part.Clamping device is connected to below movable part, fixed parts is connected to vertical drive, the fixed parts of vertical-lift mechanism is connected on the moving slide block of horizontal displacement mechanism, moving slide block can be driven by horizontal drive apparatus and move in horizontal rail, drives vertical-lift mechanism to move.The actuating device of clamping device, vertical drive, horizontal drive apparatus all can adopt pneumatic cylinder to drive.The program of robot control system(RCS) inside can, according to the distance between left and right clamping face during clamping device material, regulate clamping great efforts little automatically.Compact equipment of the present invention, easy for operation, the plug-in of robot control system(RCS) is applicable to the Turnover Box of plurality of specifications, storage box, meet the different requirement of producing or carrying material in logistics, and operating efficiency is high, failure rate is low.
Description
Technical field
The present invention relates to material cycling on manufacturing line, material storage or logistics transportation time, the clamping needing to use, the electromechanical appliance of lifting and translation.
Background technology
In the turnover of the material such as filter stick or cigarette, storage or logistics carrying, designed and developed or applied multiple mechanical type or Friday automanual system system.But, because the particularity of delivery system carried by filter stick or cigarette, filter stick or cigarette circulating box or storage box have feature that is different and other goods, and upstream and downstream equipment passing interface is also different from the equipment of other industry, is also not quite similar to the technological requirement of parts each in system.Existing filter stick automated handling delivery system can't have the industry of ripe application engineering as other, remove the many actual operation requirements meeting filter stick enterprise or cigarette enterprise, needs to do more Improvement and perfections on the basis of existing device.
Number of patent application is " the deep water underwater sludge rapid traverse equipment " of CN200520025574.0, by mud displacement lifter 1, delivery duct 2, air water separator 3 forms, mud displacement lifter 1 is placed under water, air water separator 3 is arranged on more than the water surface, the enterprising mud pipe 5 of mud displacement lifter 1 penetrates below cylindrical shell 4, through vent board 9 and dividing plate 10, vent board 9 has some apertures, enter on mud pipe 5 and water jet 11 is installed, spraying into high pressure water makes mud dilute, the both sides of cylindrical shell 4 are connected with air inlet pipe 6 and coolant inlet pipe 7, top sludge out pipe 8 is connected with delivery duct 2, delivery duct 2 other end is connected with the muddy water gas mixing import 12 at air water separator 3 top, being separated of muddy water and gas is carried out in air water separator 3, gas is discharged from air extractor duct 14, muddy water is discharged from muddy water outlet 16.This equipment for liquid slurry uses, and the industrial products being not suitable for solid shape and structure use.
Number of patent application is " goods maintaining apparatus " of CN02132102.7, can while increase keeping amount, overall with compact size forming device, the feature of the solution of the present invention is that it is formed by following parts, these parts comprise rotary goods shelves (21), and this rotary goods shelves (21) rotates around vertical central; Movable loader structure (51), mobile loading service portion (81) that this movable loader structure (51) has liftable and rotates around vertical central, and arrange according to the mode adjacent with rotary goods shelves (21); At least 1 fixed goods shelf (101), this fixed goods shelf (101) is arranged at this movable loader structure (51) around, and vertically a point multilayer has goods support (103); Enter outbound mechanism (111a, 111b), this enters outbound mechanism (111a, 111b) according to from plane, arranges with any one mode overlapped in fixed goods shelf (101) and rotary goods shelves (21).This equipment is rotated versions, translation or fed distance short, be not suitable for the manufacturing line of long-range or material flow line uses.
" lift-sliding solid carport " product that existing three-dimensional parking device enterprise produces, it promotes and traversing main employing chain or steel rope, but the ride plate promoted can rock at fore-and-aft direction or omnirange, less stable, and operation noise is larger; And, not there is the function of automatic capturing or placement material (automobile), need rely on the power shift-in of automobile self or shift out service platform.
Summary of the invention
Goal of the invention: overcome existing turnover or storage technique automation degree of equipment is low, complex structure, fault rate are high defect, there is provided the equipment of a kind of compact conformation, easy to operate, safe and reliable automatic clamping, lifting, displacement, to meet filter stick enterprise, the production of cigarette enterprise or other enterprise or logistics needs.
Technical scheme: material provided by the invention clamps lifting shift equipment automatically, may be used for manufacturing line turnover, storage or logistics field, is particularly useful for the lifting in the turnover of filter stick or tobacco productive corporation, storage or logistics and shift operation.
This equipment is made up of the clamping device etc. of robot control system(RCS), erecting frame, horizontal displacement mechanism, vertical-lift mechanism, left and right clamp structure.
Erecting frame is the carrier installing clamping device, vertical-lift mechanism, horizontal displacement mechanism.
Vertical-lift mechanism is made up of fixed parts and movable part.
Below movable part, be connected to clamping device, be used for carrying out holding action at the Width of material, preferably carry out holding action at the Width (during horizontal positioned, being defined as Width between narrower two sides) of filter stick Turnover Box or filter stick storage box.The clamping surface of clamping device has cushion, prevents material slippage.Clamping device is subsidiary adjustment clamping speed or the grasping drive unit regulating clamping dynamics.
Fixed parts is connected with vertical drive, can drive movable part, clamping device and clamping material move up and down.
Horizontal drive apparatus is connected on erecting frame, and horizontal rail is fixed on erecting frame.The fixed parts of vertical-lift mechanism is connected on the moving slide block of horizontal displacement mechanism, and moving slide block can be driven by horizontal drive apparatus and move in horizontal rail, and drives vertical-lift mechanism sway in the horizontal direction.
The actuating device of clamping device, vertical drive, horizontal drive apparatus all can adopt electric pushrod to drive or pneumatic cylinder drives; The motor that electric pushrod drives is preferably variable-frequency motor.
Erecting frame can be connected with ground, to regulate its level by burr adjustable tail margin screw.
The movable part of vertical-lift mechanism, the moving slide block of horizontal displacement mechanism all can put in place spacing and position detecting function.
When the actuating device of clamping device is electric pushrod driving, curent change speed regulation device can be attached; When the actuating device of clamping device is pneumatic cylinder driving, realize regulating clamping dynamics by adjusting cylinders stroke.
When the driving of vertical-lift mechanism is pneumatic cylinder driving, air-flow flow regulating valve speed regulation device can be attached.
During the work of this equipment, robot control system(RCS) controls grasping drive unit clamping material, and control vertical drive, horizontal drive apparatus run according to the program of inner setting, realize clamping, lifting puts in place, be shifted the material lifting and shifting process that put in place.
In the present invention, preferably when clamping the Turnover Box of filter stick or cigarette, the left and right clamping face of clamping device is at a distance of 12-36cm, and clamping dynamics is 10-50KG, ensures that the material of 2-10KG does not come off in transfer; When clamping the storage box of filter stick or cigarette, the left and right clamping face of clamping device is at a distance of 40-80cm, and clamping dynamics is 60-300KG, ensures that the material of 12-60KG does not come off in transfer.The program of robot control system(RCS) inside can left and right clamping face clamping material according to clamping device time distance, automatically regulate the size of clamping dynamics; Or according to the weight of clamping material, automatically regulate the size of clamping dynamics; Ensure that material does not come off in transfer, can not clip broken again; Material width super large or material overweight time, report to the police and stop operation.
Robot control system(RCS) of the present invention maybe can control vertical-lift mechanism and clamp at a slow speed material rising, declines, and can rise fast, declines time unloaded; Horizontal displacement mechanism can do move forward at a slow speed, fast after the variable-speed motion that moves.
Its principle of work flow process (actuating device by pneumatic cylinder drive describe) is as follows: after material is carried one by one put in place by upstream equipment, the clamping device being in releasing orientation stops at clip position place, and the left and right gripper cylinder of clamping device stretches out, and clamps material; Vertical motion is done by vertical-lift mechanism, makes material depart from upstream equipment conveyor surface completely; Reach action is done by horizontal displacement mechanism, above station material being moved on to needs.Then, down maneuver is done by vertical-lift mechanism, and material is lowered by release station place, and the left and right gripper cylinder of clamping device is retracted, release material.Then vertical motion is done again by vertical-lift mechanism, drives clamping device to rise to the highest; Rear mobile to do is done by horizontal displacement mechanism, after move on to position after; Down maneuver is done again by vertical-lift mechanism, and clamping device is returned to initial position.Equipment continues to do clamping next time, promotes, is shifted, places material action, iterative cycles like this.
Beneficial effect:
Compact equipment of the present invention, easy for operation, the internal processes of robot control system(RCS) can be applicable to Turnover Box, the storage box of plurality of specifications, can meet the requirement of carrying convey materials between different cigarette factory, different logistic car, and operating efficiency is high, failure rate is low.
This equipment by designing requirement, according to material operating mode, can realize the variable-speed motion of clamping device, vertical-lift mechanism, horizontal displacement mechanism, ensures to operate steadily, material and device security.The position accurate positioning of various station, and station position on-line checkingi timely can be done.
Equipment convenient later maintenance, if equipment is done die, power down process, just can carry out maintaining to the mechanical part of equipment easily.
Accompanying drawing explanation
Fig. 1 a: structural representation of material is had enough to meet the need in the present invention in filter stick is produced;
Fig. 2: the left view of Fig. 1 when the state of turnover;
In figure: 1, burr adjustable tail margin screw; 2, erecting frame; 3, robot control system(RCS); 4, horizontal displacement mechanism; 5, horizontal rail; 6, moving slide block; 7, movable part; 8, initial condition; 9, fixed parts; 10, state is had enough to meet the need; 11, final state; 12, platform is stopped; 13, material; 14, initial platform; 15, clamping device; 16, cushion; 31, horizontal drive apparatus; 32, grasping drive unit; 33, vertical drive.
Detailed description of the invention
Be further described below in conjunction with the type of drawings and Examples to this practicality.
embodiment:
Material as shown in Figure 1 and Figure 2 clamps lifting shift equipment automatically, have enough to meet the need for filter stick manufacturing line, there is erecting frame 2, horizontal displacement mechanism 4, vertical-lift mechanism, clamping device 15, erecting frame 2 is the carriers installing clamping device 15, vertical-lift mechanism, horizontal displacement mechanism 4, separately has robot control system(RCS) 3.
Vertical-lift mechanism is made up of fixed parts 9 and movable part 7; Below movable part 7, be connected to clamping device 15, be used at material 13(filter stick Turnover Box) Width carry out holding action, and left and right clamping face is centered in the widthwise central position of material, and clamping face has cushion 16; Clamping device 15 is the grasping drive unit 32 incidentally regulating clamping dynamics; The subsidiary air-flow flow regulating valve speed regulation device of vertical-lift mechanism.Grasping drive unit 32 regulates clamping dynamics by adjusting cylinders stroke.When clamping filter stick Turnover Box, the left and right clamping face of clamping device is at a distance of 20cm, the program of robot control system(RCS) 3 inside can left and right clamping face clamping material 13 according to clamping device 15 time distance, the size of automatic adjustment clamping dynamics is about 25KG, ensures that the filter stick Turnover Box of 5KG does not come off in transfer.
Fixed parts 9 is connected with vertical drive, can drive movable part 7, clamping device 15 and clamping filter stick Turnover Box move up and down.
Horizontal drive apparatus 31 is connected on erecting frame 2, and horizontal rail 5 is fixed on erecting frame 2; The fixed parts 9 of vertical-lift mechanism is connected on the moving slide block 6 of horizontal displacement mechanism 4, and moving slide block 6 can be moved in horizontal rail 5 by the air cylinder driven of horizontal drive apparatus 31, and drives vertical-lift mechanism sway.
Erecting frame 2 is connected with ground, to regulate its level by burr adjustable tail margin screw 1.
Grasping drive unit 32, vertical drive 33, horizontal drive apparatus 31 all adopt pneumatic cylinder to drive.The movable part 7 of vertical-lift mechanism, the moving slide block 6 of horizontal displacement mechanism 4 all put in place limit function.
During the work of this equipment, robot control system(RCS) 3 controls grasping drive unit 32, vertical drive 33, horizontal drive apparatus 31 run according to the program of inner setting, realize clamping material 13, promote put in place, be shifted overall process that put in place, placement material 13.
The present invention can rise at a slow speed, decline, rise fast, decline, move forward at a slow speed, fast after move.The present invention adopts the mode of job space to carry out carrying conveying to material 13, meets conveying requirement when upstream and downstream equipment is in different conveyor surface height.The position accurate positioning of various station, operates steadily, and guarantees the safety of material 13 and equipment.
Claims (1)
1. a material clamps lifting shift equipment automatically, there is erecting frame (2), horizontal displacement mechanism (4), vertical-lift mechanism, clamping device (15), erecting frame (2) is the carrier installing clamping device (15), vertical-lift mechanism, horizontal displacement mechanism (4), and vertical-lift mechanism is made up of fixed parts (9) and movable part (7); Be connected to clamping device (15) in movable part (7) below, be used for carrying out holding action at the Width of material (13); The clamping surface of clamping device (15) has cushion (16), prevents material (13) slippage; Clamping device (15) is the grasping drive unit (32) incidentally regulating clamping speed or regulate clamping dynamics, separately has robot control system(RCS) (3);
It is characterized in that:
For manufacturing line turnover or the storage field of filter stick or cigarette, the Turnover Box that material (13) is filter stick or cigarette or be the storage box of filter stick or cigarette;
Fixed parts (9) is connected with vertical drive (33), can drive movable part (7), clamping device (15) and clamping material (13) move up and down;
Horizontal drive apparatus (31) is connected on erecting frame (2), and horizontal rail (5) is fixed on erecting frame (2); The fixed parts (9) of vertical-lift mechanism is connected on the moving slide block (6) of horizontal displacement mechanism (4), and moving slide block (6) can drive in horizontal rail (5) upper mobile by horizontal drive apparatus (31), and drives vertical-lift mechanism to move;
Grasping drive unit (32), vertical drive (33), horizontal drive apparatus (31) all adopt electric pushrod to drive or pneumatic cylinder drives;
The inner program of described robot control system(RCS) (3) can left and right clamping face clamping material (13) according to clamping device (15) time distance, automatically regulate the size of clamping dynamics; According to the weight of clamping material (13), automatically regulate the size of clamping dynamics; When clamping the Turnover Box of filter stick or cigarette, the left and right clamping face of described clamping device (15) is at a distance of 12-36cm, and clamping dynamics is 10-50KG, ensures that the material (13) of 2-10KG does not come off in transfer; When clamping the storage box of filter stick or cigarette, the left and right clamping face of described clamping device (15) is at a distance of 40-80cm, and clamping dynamics is 60-300KG, ensures that the material (13) of 12-60KG does not come off in transfer;
Described robot control system(RCS) (3) rises at a slow speed when can control vertical-lift mechanism gripping object material (13), can decline fast time unloaded; Can also level of control shift mechanism (4) do move forward at a slow speed, fast after the speed change displacement that moves;
Described grasping drive unit (32) adopts electric pushrod to drive, subsidiary curent change speed regulation device;
Described vertical-lift mechanism adopts pneumatic cylinder to drive, subsidiary air-flow flow regulating valve speed regulation device;
The movable part (7) of described vertical-lift mechanism, the moving slide block (6) of horizontal displacement mechanism (4) all put in place limit function, also have position detecting function;
During the work of this equipment, robot control system(RCS) (3) controls grasping drive unit (32), vertical drive (33), horizontal drive apparatus (31) run according to the program of inner setting, realizes clamping material (13), lifting puts in place, being shifted puts in place, places the overall process of material (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310151669.6A CN103231994B (en) | 2013-06-06 | 2013-06-06 | Material clamps lifting shift equipment automatically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310151669.6A CN103231994B (en) | 2013-06-06 | 2013-06-06 | Material clamps lifting shift equipment automatically |
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| Publication Number | Publication Date |
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| CN103231994A CN103231994A (en) | 2013-08-07 |
| CN103231994B true CN103231994B (en) | 2016-01-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310151669.6A Active CN103231994B (en) | 2013-06-06 | 2013-06-06 | Material clamps lifting shift equipment automatically |
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| CN (1) | CN103231994B (en) |
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| CN103978119A (en) * | 2014-05-04 | 2014-08-13 | 安徽富煌钢构股份有限公司 | Automatic in-place device of steel belt of plate manufacturing machine |
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| CN106004052B (en) * | 2016-05-19 | 2018-07-10 | 张帆 | Ink box discharging method |
| CN107618997B (en) * | 2017-08-01 | 2019-01-01 | 大连理工大学 | A kind of small-sized remote control handling equipment |
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| JP7490568B2 (en) | 2018-04-25 | 2024-05-27 | アウトストア・テクノロジー・エーエス | Container handling vehicle |
| CN112794059B (en) * | 2021-01-20 | 2023-07-14 | 潍坊工程职业学院 | An easily adjustable transfer device for the production of computer accessories |
| CN115246573B (en) * | 2022-02-11 | 2023-05-16 | 山东建筑大学 | Base plate feeding device for aerated concrete composite heat-insulating wallboard production line |
| CN115180393A (en) * | 2022-07-16 | 2022-10-14 | 红云红河烟草(集团)有限责任公司 | Turnover machine for scheduling of tobacco production workshop |
| CN115489923B (en) * | 2022-09-26 | 2025-01-21 | 中科美菱低温科技股份有限公司 | A high-efficiency cryopreservation tube transfer device |
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| CN203306932U (en) * | 2013-06-06 | 2013-11-27 | 南通烟滤嘴有限责任公司 | Automatic clamping, lifting and shifting equipment for materials |
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2013
- 2013-06-06 CN CN201310151669.6A patent/CN103231994B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2851111Y (en) * | 2005-05-31 | 2006-12-27 | 刘宝玉 | Self-powered case unloading system |
| US20110064555A1 (en) * | 2009-09-11 | 2011-03-17 | Krones Ag | Gripper unit for supporting and transporting articles |
| CN202320920U (en) * | 2011-11-25 | 2012-07-11 | 哈尔滨博实自动化股份有限公司 | Upper-position horizontal conveying mechanism of full-material bags |
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| CN203306932U (en) * | 2013-06-06 | 2013-11-27 | 南通烟滤嘴有限责任公司 | Automatic clamping, lifting and shifting equipment for materials |
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| CN103231994A (en) | 2013-08-07 |
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| Date | Code | Title | Description |
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| C06 | Publication | ||
| PB01 | Publication | ||
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| ASS | Succession or assignment of patent right |
Owner name: KUNMING KSEC LOGISTIC INFORMATION INDUSTRY CO., LT Effective date: 20130917 |
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| C41 | Transfer of patent application or patent right or utility model | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20130917 Address after: 226001 Jiangsu Province, Nantong City Chongchuan District Haier Lane Road No. 73 Applicant after: Nantong Cigarette Filter Co., Ltd. Applicant after: Kunming KSEC Logistic Information Industry Co., Ltd. Address before: 226001 Jiangsu Province, Nantong City Chongchuan District Haier Lane Road No. 73 Applicant before: Nantong Cigarette Filter Co., Ltd. |
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